AP_HAL_ChibiOS: add initial herepro hwdef

libraries/AP_HAL_ChibiOS/hwdef/HerePro/defaults.parm

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+NTF_LED_OVERRIDE 1 
+SCR_ENABLE 1
+GPS_INJECT_TO 0

libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef-bl.dat

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+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+FULL_FEATURED_BOOTLOADER 1
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x5011
+USB_STRING_MANUFACTURER "CubePilot"
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1037
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors
+FLASH_BOOTLOADER_LOAD_KB 256
+
+PB15 LED_2 OUTPUT LOW
+PB14 LED OUTPUT LOW
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 UART7
+
+define HAL_NO_LOGGING TRUE
+define HAL_NO_MONITOR_THREAD
+define HAL_NO_GCS
+
+# USART3 F9
+PD9 USART3_RX USART3 
+PD8 USART3_TX USART3
+
+# UART7 F9
+PE7 UART7_RX UART7 
+PE8 UART7_TX UART7 NODMA
+
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+
+define HAL_USE_EMPTY_STORAGE 1
+define HAL_STORAGE_SIZE 16384
+
+###########################
+define PERIPH_FW TRUE
+
+define USB_USE_WAIT TRUE
+define HAL_USE_USB_MSD TRUE
+
+define HAL_BUILD_AP_PERIPH
+
+define HAL_DEVICE_THREAD_STACK 2048
+
+#define AP_PARAM_MAX_EMBEDDED_PARAM 0
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+define AP_PERIPH_HAVE_LED
+
+define HAL_COMPASS_MAX_SENSORS 1
+
+# GPS+MAG
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+
+# use the app descriptor needed by MissionPlanner for CAN upload
+env APP_DESCRIPTOR MissionPlanner
+
+# Add MAVLink
+env FORCE_MAVLINK_INCLUDE 1
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+#PB5 GPIO_CAN1_SILENT OUTPUT PUSHPULL SPEED_LOW LOW
+
+PF8 blank CS
+SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
+
+PE4 MPU_EXT_CS CS
+PE2 SPI4_SCK  SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+
+PG15 spi6cs CS
+PG13 SPI6_SCK  SPI6
+PG12 SPI6_MISO SPI6
+PG14 SPI6_MOSI SPI6
+
+PF7 SPI5_SCK  SPI5
+PF9 SPI5_MOSI SPI5
+
+
+define BOARD_PWM_COUNT_DEFAULT 0
+define BOARD_SER1_RTSCTS_DEFAULT 0
+
+#gps f9
+PD10 F91TXR INPUT 
+PD11 F92RST INPUT
+PD13 F93SB INPUT 
+PD14 F94EXTINT INPUT 
+PD15 F95RSV1 INPUT 
+PG2 F97 INPUT GPIO(100)
+PG3 F96RSV2 INPUT 
+PD4 RTKSTAT INPUT
+PD5 GEOFENCESTAT INPUT
+
+#others
+PG10 can2int INPUT 
+PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
+PF1 GNDDET2 INPUT
+PF2 GNDDET1 INPUT
+PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
+PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
+#sensor enable
+PC0 SENSEN OUTPUT HIGH
+PB1 IMUINT INPUT
+PB3 QCAN2TERM OUTPUT LOW GPIO(4)
+PB4 QCAN2INT0 INPUT
+PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
+PE0 QCAN1INT INPUT
+PE1 QCAN1INT0 INPUT
+PE3 QCAN1INT1 INPUT
+
+PD6 QCAN1TERM OUTPUT LOW GPIO(3)
+PD7 QCAN2INT1 INPUT
+PA8 QCAN12OSC1 INPUT
+
+# This input pin is used to detect that power is valid on USB.
+PA9 VBUS INPUT
+PH13 VDD_33V_SENS INPUT
+
+# This defines some input pins, currently unused.
+PB2 BOOT1 INPUT
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+# passthrough CAN1
+define HAL_DEFAULT_CPORT 1
+
+define CAN_APP_NODE_NAME "com.cubepilot.herepro"
+
+FULL_CHIBIOS_BOOTLOADER 1

libraries/AP_HAL_ChibiOS/hwdef/HerePro/hwdef.dat

@@ -0,0 +1,220 @@
+# hw definition file for processing by chibios_hwdef.py
+# for H743 bootloader
+
+# MCU class and specific type
+MCU STM32H7xx STM32H743xx
+
+# USB setup
+USB_VENDOR 0x2DAE # ONLY FOR USE BY HEX! NOBODY ELSE
+USB_PRODUCT 0x5001
+USB_STRING_MANUFACTURER "CubePilot"
+
+# setup build for a peripheral firmware
+env AP_PERIPH 1
+env AP_PERIPH_HEAVY 1
+
+# crystal frequency
+OSCILLATOR_HZ 24000000
+
+# board ID for firmware load
+APJ_BOARD_ID 1037
+
+FLASH_SIZE_KB 2048
+
+# bootloader is installed at zero offset
+FLASH_RESERVE_START_KB 0
+
+# the location where the bootloader will put the firmware
+# the H743 has 128k sectors, we leave 2 sectors for BL
+FLASH_BOOTLOADER_LOAD_KB 256
+
+PB15 LED_2 OUTPUT LOW
+PB14 LED OUTPUT LOW
+
+# board voltage
+STM32_VDD 330U
+
+# order of UARTs (and USB)
+SERIAL_ORDER OTG1 OTG2 EMPTY USART3 UART7
+
+define HAL_SERIAL0_PROTOCOL SerialProtocol_None
+
+# USART3 F9
+PD9 USART3_RX USART3 
+PD8 USART3_TX USART3
+
+# UART7 F9
+PE7 UART7_RX UART7 
+PE8 UART7_TX UART7 NODMA
+
+
+PA11 OTG_FS_DM OTG1
+PA12 OTG_FS_DP OTG1
+
+PA13 JTMS-SWDIO SWD
+PA14 JTCK-SWCLK SWD
+
+###########################
+define BUILD_DEFAULT_LED_TYPE Notify_LED_ProfiLED_SPI
+define NOTIFY_LED_LEN_DEFAULT 16
+define CONFIGURE_PPS_PIN TRUE
+
+FLASH_RESERVE_START_KB 256
+
+define GPS_UBLOX_MOVING_BASELINE TRUE
+define HAL_NO_LOGGING TRUE
+define HAL_NO_MONITOR_THREAD
+
+define PERIPH_FW TRUE
+
+define HAL_DISABLE_LOOP_DELAY
+define USB_USE_WAIT TRUE
+define HAL_USE_USB_MSD TRUE
+
+define HAL_MINIMIZE_FEATURES 0
+
+define HAL_BUILD_AP_PERIPH
+
+define HAL_DEVICE_THREAD_STACK 2048
+
+#define AP_PARAM_MAX_EMBEDDED_PARAM 0
+
+define HAL_BARO_ALLOW_INIT_NO_BARO
+
+define HAL_STORAGE_SIZE 16384
+
+# disable dual GPS and GPS blending to save flash space
+define GPS_MAX_RECEIVERS 1
+define GPS_MAX_INSTANCES 1
+define HAL_COMPASS_MAX_SENSORS 1
+
+# GPS+MAG
+define HAL_PERIPH_ENABLE_GPS
+define HAL_PERIPH_ENABLE_MAG
+define HAL_INS_ENABLED 1
+
+# use the app descriptor needed by MissionPlanner for CAN upload
+env APP_DESCRIPTOR MissionPlanner
+
+# enable CAN support
+PB8 CAN1_RX CAN1
+PB9 CAN1_TX CAN1
+PB5 CAN2_RX CAN2
+PB6 CAN2_TX CAN2
+
+PA4 MPU_CS CS
+PA5 SPI1_SCK SPI1
+PA6 SPI1_MISO SPI1
+PA7 SPI1_MOSI SPI1
+SPIDEV icm20948       SPI1 DEVID4  MPU_CS       MODE3  4*MHZ  8*MHZ
+
+PF8 blank CS
+SPIDEV profiled     SPI5 DEVID1 blank MODE3 1*MHZ 1*MHZ
+
+IMU Invensensev2 SPI:icm20948 ROTATION_YAW_270
+
+define HAL_DEFAULT_INS_FAST_SAMPLE 5
+
+# compass as part of ICM20948 on newer cubes
+COMPASS AK09916:probe_ICM20948 0 ROTATION_ROLL_180_YAW_90
+
+# one baro
+#BARO MS56XX I2C:0:0x77
+
+PE4 CSPI4_CS CS
+PE2 SPI4_SCK  SPI4
+PE5 SPI4_MISO SPI4
+PE6 SPI4_MOSI SPI4
+
+
+PG15 CSPI6_CS CS
+PG13 SPI6_SCK  SPI6
+PG12 SPI6_MISO SPI6
+PG14 SPI6_MOSI SPI6
+
+PF7 SPI5_SCK  SPI5
+PF9 SPI5_MOSI SPI5
+
+# Now setup the pins for the microSD card, if available.
+PC8 SDMMC1_D0 SDMMC1
+PC9 SDMMC1_D1 SDMMC1
+PC10 SDMMC1_D2 SDMMC1
+PC11 SDMMC1_D3 SDMMC1
+PC12 SDMMC1_CK SDMMC1
+PD2 SDMMC1_CMD SDMMC1
+
+define BOARD_PWM_COUNT_DEFAULT 0
+define BOARD_SER1_RTSCTS_DEFAULT 0
+
+define HAL_OS_FATFS_IO 1
+define HAL_WITH_UAVCAN 1
+env HAL_WITH_UAVCAN 1
+define HAL_PICCOLO_CAN_ENABLE 0
+define AP_UAVCAN_SLCAN_ENABLED 1
+
+PA1 ANALOG_CAN_VOLTAGE1 ADC1 SCALE(21.404)
+PA2 ANALOG_CAN_VOLTAGE2 ADC1 SCALE(21.404)
+
+#gps f9
+PD10 F91TXR INPUT 
+PD11 F92RST INPUT
+PD13 F93SB INPUT 
+PD14 F94EXTINT INPUT 
+PD15 F95RSV1 INPUT 
+PG2 F97 INPUT GPIO(100)
+PG3 F96RSV2 INPUT 
+PD4 RTKSTAT INPUT
+PD5 GEOFENCESTAT INPUT
+
+#others
+PG10 can2int INPUT 
+PG11 can2sleep OUTPUT PUSHPULL SPEED_LOW LOW 
+PF1 GNDDET2 INPUT
+PF2 GNDDET1 INPUT
+PC6 EXTERN_GPIO1 OUTPUT GPIO(1)
+PC7 EXTERN_GPIO2 OUTPUT GPIO(2)
+#sensor enable
+PC0 SENSEN OUTPUT HIGH
+PB1 IMUINT INPUT
+PB3 QCAN2TERM OUTPUT LOW GPIO(4)
+PB4 QCAN2INT0 INPUT
+PC13 QCAN1SLEEP OUTPUT PUSHPULL SPEED_LOW LOW 
+PE0 QCAN1INT INPUT
+PE1 QCAN1INT0 INPUT
+PE3 QCAN1INT1 INPUT
+
+PD6 QCAN1TERM OUTPUT LOW GPIO(3)
+PD7 QCAN2INT1 INPUT
+PA8 QCAN12OSC1 INPUT
+
+# This defines more ADC inputs.
+PC3 ANALOG_VCC_1_8V ADC1 SCALE(2)
+PC4 ANALOG_VCC_5V_PIN ADC1 SCALE(2.044)
+
+# This input pin is used to detect that power is valid on USB.
+PA9 VBUS INPUT
+PH13 VDD_33V_SENS INPUT
+
+# This defines some input pins, currently unused.
+PB2 BOOT1 INPUT
+
+# reserve 256 bytes for comms between app and bootloader
+RAM_RESERVE_START 256
+
+# use DNA
+define HAL_CAN_DEFAULT_NODE_ID 0
+
+define CAN_APP_NODE_NAME "com.cubepilot.herepro"
+
+define HAL_BOARD_TERRAIN_DIRECTORY "/APM/TERRAIN"
+
+define COMPASS_CAL_ENABLED 1
+
+define HAL_ENABLE_SLCAN 1
+# passthrough CAN1
+define HAL_DEFAULT_CPORT 1
+
+define CONFIGURE_PPS_PIN TRUE
+define AP_PERIPH_HAVE_LED TRUE
+
+define SCRIPTING_HEAP_SIZE (64*1024)